Atomic magnetometers (AMs) are widely acknowledged as one of the most sensitive kind of instruments for bio-magnetic field measurement. Recently, there has been growing interest in developing chip-scale AMs through nanophotonics and current CMOS-compatible nanofabrication technology, in pursuit of substantial reduction in volume and cost. In this study, an integrated polarization-splitting grating coupler is demonstrated to achieve both efficient coupling and polarization splitting at the D1 transition wavelength of rubidium (795 nm). With this device, linearly polarized probe light that experienced optical rotation due to magnetically induced circular birefringence (of alkali medium) can be coupled and split into individual output ports. This is especially advantageous for emerging chip-scale AMs in that differential detection of ultra-weak magnetic field can be achieved through compact planar optical components. In addition, the device is designed with silicon nitride material on silicon dioxide that is deposited on a silicon substrate, being compatible with the current CMOS nanofabrication industry. Our study paves the way for the development of on-chip AMs that are the foundation for future multi-channel high-spatial resolution bio-magnetic imaging instruments.